function [x_pe_nsfoot_vec] = pe_nsfoot_vec(x)
x_pe_nsfoot_vec=[0.0004.*((-127.).*(3..*cos(x(3)) + sin(x(3)) + 8..*(sin(x(3) + x( ...
  4)) + sin(x(3) + x(4) + x(5)) + (-2.).*cos(0.5.*x(8)).*sin(x(3) +  ...
  x(4) + x(5) + x(6) + (-1.).*x(7) + (-0.5).*x(8)))) + 2500..*x(1)), ...
  0.0004.*(127..*(cos(x(3)) + 8..*cos(x(3) + x(4)) + 8..*cos(x(3) +  ...
  x(4) + x(5)) + (-8.).*cos(x(3) + x(4) + x(5) + x(6) + (-1.).*x(7)) ...
   + (-8.).*cos(x(3) + x(4) + x(5) + x(6) + (-1.).*x(7) + (-1.).*x( ...
  8)) + (-3.).*sin(x(3))) + 2500..*x(2))];
